00001 // 00002 // Copyright 2004 Sony Corporation 00003 // 00004 // Permission to use, copy, modify, and redistribute this software for 00005 // non-commercial use is hereby granted. 00006 // 00007 // This software is provided "as is" without warranty of any kind, 00008 // either expressed or implied, including but not limited to the 00009 // implied warranties of fitness for a particular purpose. 00010 // 00011 00012 #ifndef MTNWALKAgent7_h_DEFINED 00013 #define MTNWALKAgent7_h_DEFINED 00014 00015 #include "MTNAgent7.h" 00016 00017 class MTNWALKAgent7 : public MTNAgent7 { 00018 public: 00019 MTNWALKAgent7() {} 00020 virtual ~MTNWALKAgent7() {} 00021 00022 virtual bool AreYou(MoNetAgentID agent); 00023 virtual void SetJointGain(); 00024 00025 private: 00026 static const word TILT1_PGAIN = 0x000a; 00027 static const word TILT1_IGAIN = 0x0004; 00028 static const word TILT1_DGAIN = 0x0002; 00029 00030 static const word PAN_PGAIN = 0x0008; 00031 static const word PAN_IGAIN = 0x0002; 00032 static const word PAN_DGAIN = 0x0004; 00033 00034 static const word TILT2_PGAIN = 0x0008; 00035 static const word TILT2_IGAIN = 0x0004; 00036 static const word TILT2_DGAIN = 0x0002; 00037 00038 static const word J1_PGAIN = 0x001c; 00039 static const word J1_IGAIN = 0x0008; 00040 static const word J1_DGAIN = 0x0001; 00041 00042 static const word J2_PGAIN = 0x0014; 00043 static const word J2_IGAIN = 0x0004; 00044 static const word J2_DGAIN = 0x0001; 00045 00046 static const word J3_PGAIN = 0x001c; 00047 static const word J3_IGAIN = 0x0008; 00048 static const word J3_DGAIN = 0x0001; 00049 00050 static const word TAIL_PGAIN = 0x000a; 00051 static const word TAIL_IGAIN = 0x0004; 00052 static const word TAIL_DGAIN = 0x0004; 00053 00054 static const word PSHIFT = 0x000e; 00055 static const word ISHIFT = 0x0002; 00056 static const word DSHIFT = 0x000f; 00057 }; 00058 00059 #endif // MTNWALKAgent7_h_DEFINED
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